System for control of moving bodies by radiant energy



I. H. HAMMOND, In. SYSTEM FOR CONTROL 0F MOVING BODIES BY RADIANTENERGY.

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wlw Aw J. H. HAMMOND, 1n.

SYSTEM FOR CONTROL 0F MOVING BODIES BY RADIANT ENERGY. APPucATloN me nmzz2, m4. RENEWED MAY 3. 1922.

LASQL Pawnlune 6, 1922.

2 SHEEIS-SHEET 2.

" and a resident of Gloucester, in the countyy .irpiamrsieirsneianonng'm., or enoucnsfrnn, massacmrsn'rrfs.

f f 'sustenta non CONTI. or trovino Bonins BY Diam* En /1 vSpecification of Letters Patent.

Patented June y6, i922.-

iippiiaetiun mea rune 22, wie, serial no. 846,468. Renewed may s, 192e.semi No. 558,310.

all it' may concewz: y 'Be it k' ovvn that "l, JOHN Hays HAM- MoNi'i,Jr., ifa citizen of the United States,

of Essex and State of Massachusetts, have invented anA Improvement inSystems for Control of Moving Bodies by Radiant Energy, -of which thefollowing description, in connection with the accompanying drawings,aisf. a specification, like characters on v the drawings representinglikey parts.

Thisiinvention relates to systems for controlling and' operating movingbodies or mechanisms atV a distance and more particularly to systems inwhich pneumatic, hy'- draulic 'or lotherl fluid vpressure or vacuumcontrolled mechanism for operating the Steern I gear, engine] orf otherfunctioning or control ing device oiivinecha'nism of moving ,2 Jbdi'es,is controlled by radiant energy transmitted from a/distant station..

.QWithin the. scope and purposev of the inv ventiOn thel moving body maybe of any suitabletype, such for example as a vessel, ve-

hicle or air (craft I have chosen for illus- 'tration the application ofmy invention to the steeringof a torpedo boat or like vessel.

i In the 'ii'icompanying drawings, 'wherein if yis discloeed asinglembodiment of my inxga()4 muon i Fig 1. is a vieviv'-, mainlydiagrammatic and partially in'section, of alsystem constructed invaccordance With and embodying one type 0f my invention, the gyroscopebeing represented as functioning in the control ofthe Vessl- .s .y-j,.Fig. 2 is '-avievv, mainly 1n `longitudinalsection, of'one type ofmeans for modifying the. actionjof 'the gyroscope or other controllerupon the moving body Figs, Il and 5 are cross sections, upon the lines3-,3,"4-4 and 5 5, respectively, of Fia 2; i l

iFig. 16 is a view, mainly diagrammatic, of one type of means responsiveto radiant energy for operating the valve means control- .the invention,I provide means whereby thev steering apparatus can be controlled orgoverned at a distance by radiant energy, and

l whereby the vessel may be kept upon a predetermined course at othertimes by a gyrscope or other suitable controller or azimuthmaintainingmeans located upon thevessel."`

During the periods When the vessel is not under the control of anoperator at the dis- .tant lcontrol station, it is maintained iupon itscourse by a suitable controller or azimuthmaintaining means Which isherein typified as a yroscope.- The saidfcoiitroller, which I WilAhereinafter referto as a gyroscope, may be permitted to function in anysuitable manner in maintainin the -vessel upon its course, butpreferably employ fluidunder pressure, such for example' as compressedair, and through the agency of said .gyroscope' I permit compressed air.tobe ad-v mitted into afmain or steering cylinder at either side of thepiston therein, so as to turn the rudder to starboard or to port as maybe required to maintain the vessel upon its course.

i vhave discovered that if the vmotive fluid be admitted by theVgyroscope Afreely and Without modification to one'side ofthe 4steer` ingcylinder, the result is' to throw the rudder or other steering 'devicethrough such a Wide 'angle to starboard or to port that the vessel tendsto move'out of its course, Whereiip'on through the vaction of thegyroscope the motive fluid is admitted to the other end of the steeringcylinder and the rudder is thereupon thrown through a wide angle in theopposite direction, thus moving 'the vessel off its course in the'opposite direction. The result is that the vessel tends tol move in asinuous path, the general direction or axis ofwhich is or may-be thedesired predetermined direction. 1.

I have therefore, in 'accordance with my ings, wherein I haverepresented merely one embodiment of means for carrying out myinvention, I have therein represented a cylinder 1,-adapted, to receivemotive fluid, such as compressed air, through a pipe 2 from a mainreservoir or supply 3V positioned at any suitable point upon -thevessel. Within the cylinder 1 is a piston 4, having a piston rod 5extendingentirely through the cylinder 1 and constituting the core ofsolenoids 6, 7. Air underpressure is admitted from the reservoir 3 toone side or the other of the piston 4 in cylinder 1, depending upon theenergization of the vsolenoidsA 6 or 7. If the solenoid 6 be energizedthe piston 4 is moved to the left, viewing F.ig.'1,and air is admit-rVted through pipe 2 to the right-hand end of the cylinder l, and,yconversely, upon energi- ,zation ofthe solenoid 7 it is admitted `to theleft-hand end thereof. I have herein represented the em loyment of coilsprings 8, 9 within the cy luder-1 about the piston rod 5 thereof,tending toI center the piston 4, and I have also represented the pistonrod 5 as' grooved or channelled` at 10, 11 to provide for exhaustl fromthe cylinder 1. Any other suitable means providing exhaust may beemployed, the represented means being of simple construction.

I have .diagrammatically indicated the gyroscope at 12, it beingequipped with suitable means to .effect the energization of solenoids 6and 7. It will, however, be understood, that any means, electricalorotherwise, may be employed to effect upon apparent opposite movementsof the gyroscope the passage of motive fluid in one direction or theother, or inA anyother suitable manner the control of the ruddermechanism. Pref erably, however, and as herein represented, I employelectrical means including the solenoids 6 and 7.

The gyroscope .12 is in circuit by conductors 13, 14 with the solenoids6 and 7. a battery 15 being represented4 in said circuit. Extending fromsaid solenoids are conductors 16, 17 having terminals 18, 19 positionedin sufficient proximity to an arm 2() mounted upon the gyroscope andwhich, inthe movement of the vessel relative to the gyroscope, makescontact with one or the other of said terminals 1819 and thereuponenergizes thc corresponding solenoid 6 or4 7 as the case may be. thusmoving the piston 4 toward one end or the other of the cylinder 1 andadmitting air or other motive fluidto 'the opposite en'dfcfsaid cylinder1.

In suitable relation to the cylinder 1 I preferably provide a furthercylinder 21, having therein a piston 22 upon a piston rod 23 extending,into and preferably through a cylinder 24, wherein it is provided Witha piston 25 and coil springs 26, 27 vtending to maintainy a centralposition of said piston 25.

The corresponding ends of the cylinders 1 and 21 are connected bypassages 28, 29, thereby admitting motive fluid from the cylinder, 1 toone or the other of the .cylinder 21, and thereby to move the piston 25toward one end or the other of the cylinder 24, thus uncovering thepassage 30 by which air under pressure is admitted from the main airsupply or reservoir 3. Any suitable means may be employed to exhaust theair from either end of the -cylinder 24. For the purpose I have hereinrepresented the piston rod 23 as grooved or channelled at 31, 32.

The rudder of the vesselis diagrammatic- )ally Iindicated at 33, itbeing mounted upon a lever 34, pivoted at 35and having connected theretoin suitable manner piston rods 36, 37, the former extending into themain or steering cylinder 38, Where it is provided with a suitablepiston 39. The piston rod 3 7 extends into and preferably through asocalledspring cylinder` 40, where it is provided with a suitable plston4l. Surrounding the ofthe piston 41 are coil springs 42,43 which ltendto center the piston 41 in the cylinder 40, and the piston 39 in themain steering cylinder 38.

Between the main or steering cylinder 3S and the cylinder 24 Iinterpose, in' accordpiston rod 37 and upon opposite sides ance with thedisclosed embodiment of my the action of one o-f which I either permitthe gyroscope tofunction in the control of the vessel or permit theoperator at the distant control station tov steer the vessel: andthrough the other of which I modify the helm angle or angle throughwhich the rudder moves when the vessel is controlled b v the gyroscopeand not by the operator at the distant control station. construction ofparts is such that when the gyroscope is functioning in the control ofthe vessel the modifying device functions to limit the helm angle, andwhen the gyroscope is not functioning the said modifying means isrendered inactive and the rudder is moved through a wider and preferablythrough a full angle. through the means responsive to the distantcontrol station.

I shall first describe one form of means 'whereby I permit the controlof the vessel `invention, two functioning devices through Preferably thetherein a ysuitab Leraren' tary valve of the general type andconstruction disclosed in prior applications filed by me.

In'Figs. 1, 6, 7 and 8 I have represented the valve casin at 44, ithavingpositioned de valve 45 having a spindle 46 extending through thecasing. Upon said spindle is loosely mounted a gear 47 and fastthereonis a ratchet 48, with which engages a pa'wl 49 upon the gear 47 and heldin position by a spring 50. I-n this or in any other suitable manner thevalve 45 is rotated step by step.' l l impart a step by step movement tothe said valve 45 by irjeans responsive to the diftant control statlon.For this purpose I have representedan open oscillatory receiving circuitat 51, this being connectedto the winding 52 of'a closed oscillatorycircuit of any suitable type andfshown as havingtherein a condenser 53,'a\stopping condenser 54, and a suitable detector 55 for electricaloscillations. At 56 I; have indicated a sensitive relay or other contactmaking devicef These parts may .be of any suitable construction notAherein necessary more fully to describe or'to indicate.- At 5 7 I haveindicated a circuitcontrolled by the relay 56 and having therein abatter 5.8, and at 59 -I have indicated a solenoi ,fthe core or'plunger60 of which' is adaptedto -be moved in the direcltion of the arrow uponFig. 6, upon the energization of said solenoid. The said core or plunger60 is provided with teeth 61 with which mesh the teeth of the gean 47,whereby upon energization ofthe solenoid 6() the rotary valve is movedone .step and as herein represented, through ninety degrees.

The left-hand end of the cylinder 38, Viewing Fig. l, is connected bypassage 62 With the valve 45 at one side thereof and the right-hand endis connected by, passage 63 with the said valve 45, preferably at theopposite side as represented most clearly in Fig. 1, whereby uponsuitable actuation-ofthe "valve 45, the compressed air or other motiveuid'is admitted to one Aend or the other of the cylinder 38 thereby tomove the piston 39 to the right or the left, viewing this .purpose kIpreferably provide a cylin .rudder is moved when the course of thevessel is controlled by the gyroscope. For

dcr/64 having mountel therein for sliding adjusting movement, a two-partshell or inner cyllnder 65. within which latter ,is positioned a plunger66, the end 67 of which is connected in suitable manner with the pistonrod 36,v as bya` ro 68, shown in Fig. 1. The connection 68 compelsconjoint mvement of the plunger 66 and the piston rod 36. The plunger-66extends preferably the entire length ofthe cylinder 64, the latterhaving at one end a guard or guiding tube 69 for the end of theplunger66.

The said cylinder 64 is Iprovided withfour ports 70', 71,' 72 and 7 withwhich communi-l cate vrespectively the passages 74, 7 5, 76 and 77. IThe l'passages 74 and 76 communicate f withopposite enfls of thecylinder24 and the passages and 7 7 communicate" with the valve 45, preferablyat diametrically opposite oints. e

T c two-part shell or cylinder 65 is provided at one portion thereofwith an elongated port 78 in' communications-'With the port 70 anddiametrieally opposite therefroml with va port 7 9 in, communicationwith the port 71. At its opposite portion, the said two-part shellv or`cylinderis provided with an elongatedport 80 in communication with port72 and diametrically opposite therefrom a port 81 in communication" withthe port 73. Each of said ports. 78, 79, 80 and 81 extends through thewall of the two-part shell or cylinder 65 and is thus adaptedrto beplaced at the desired times in register with 'passages in theplunger,66. I .have

herein represented said plungeras provided in proximity Vto vthe ports78, 79 with a groove 82 and'diametrically opposite thereto 'a longergroove 83, wluch are in commu-`v` nication through a gransverse passage84,

whereby at proper times the ports 70 and 71 are placed in communication.Similarly and adjacent to the ports 7 2, 73 the plunger* 66 is providedwith a longitudinal groove 85 and diametrically opposite thereto withlagroove 86, whichare placed `in communication by a transverse groove 87,whereby' the ports 72, 73 may be placed in communication at propertimes. The shell or cylinder 65 intermediate the ports 70, 72 .of thecyl-- inder 64, is circumi'erentiall-y divided, as 1ndicated at 88. 89,thereby in effect forming a port 89, which latter is adapted ,to beplaced in register at the 'desired times with the exhaust port 90 of thecylinder 64. The

vIl() plunger 67 intermediate the ports 84. 87 is v provided with agroove 91 of su-iiicient length to place either port 71l or 73 incommunicatibn With the exhaust port 90,

I provide suitable means for effecting 'longit-udinal adjustment of thetwo parts or members of theshell or cylinder 65, whereby the points ofcommunication .of the grooves- 78, 79, 80 81 may be varied, thus placingthe, corresponding ports 70, `71 and 72. 73 in communication at dierentportions of the movement of the plunger 66. Any suitable means maybeprovided for this purpose. I have herein represented thel opposite ends9,2,- 93 of said two-part shell or cylinder asA threaded .and receivinginternallythi-'eaded collars 94, 95 which, as shown in. Fig. 15, areprovided with extensions 96,

- 97 secured to nuts 98, 99d mounted upon a .or cylinder 65 may be movedAaxially of the cylinderC 64 toward or from each other so as to controlthe time and period of communication of the ports 70, 71 and 72, 73respectively.

The rotary valve 45, as shown most clearly in Figs. 1, 7- and 8, isprovided at preferably diametrically opposite points with grooves 105,106 adapted, as shown .in Fig. 1, to be placed respectively incommunication with the passages 7 5,- 62 and 77, 63, thereby, asindicated in Fig. 1, permitting the flow of fluid through the pipes 75and the pipes 62 into the left hand end of the cylinder 38 orpermittingv the flow of Huid through the passage 77 and the passage 63into -the right hand end of said cylinder 38.4 Between the grooves 105,106 the valve is provided with a groove 107 shown in two oppositepositions in Figs. 7 and 8. Between its ends, the Asaid groove 107passes from the surface of the valve' into the innerV portion thereof,as represented at 108 in F igs.,7 and 8. At

" its inner` end, the groove 107 is adapted to be placed incommunication with either the passage 62 or the passage 63 dependingupon the position of the valve 4and as represented in Figs. 7 and 8. Theopposite or outer end of said passage 107 is in communication with agroove 109, itself communicating. with the exhaust 110. The said valve.

45 is also provided with a longitudinal groove 111, which is incommunication with a circumferential gi'oove112, which, as representedin Figs. 1,L7 and 8, is in communication with the passage 113 leadingfrom the main air-supply reservoir 3. .Also extending 4from thecircumferential groove 112 is a longitudilnalI passage114, which. asshown in Fig. 8, is adapted to be placed in communication with a passage115 leading to an axial passage 116 in the upper portion 117 of thegyroscope rod. represented as mounted 1n the case 118. Between thelongitudinal passages 111 and 114 of the rota-ry valve 45 are twolongitudinal passages 11S) and 120, both communicating at their outerends with a circumferential groove 121 in communication with an exhaust122. The gyroscope rod is formed of two parts adapted to be suitablyclutched together, as shown in Fig. .16. The upper part 117 is enlargedto provide a` casing or chamber 123 having .a piston 124. the piston rod1.25 of which is surrounded by a coil spring 126 and extends finto ahollow head'or casing- 127 of the lower part 128 of the gyroscope rodand is there provided with a clutching disk 129. The construction issuch thatwhen air or other motive fluid under pressure is admitted intothe passages 1 15, 116, the piston 124 is forced downwardlyV and theclutch disk 129 is forced out of clutching engagement with the surfaceof thehollow head or casing 127. When, however, the lair or other-motive {iuid is permitted to.exhaust from the passages 116, 115,-thenthe ycoil'spring 126 elevates the plunger 124j and forces the disk 129into clutching engagement with the inner surface of the hollow head 127of the gyroscope frod 128 and also moves the said'head into clutchingengagement with the `under surface 130 of the casing or .chamber 123,thereby permitting the gyroscope to function in its control of thevessel. If desired, the clutching surfaces may be roughened or otherwisesuitably shaped Ito, insurea clutching engagement of thepartsf Assumingthat the gyroscope is function- ,ing in the controlof the vessel andthat the ar1n20 thereof makes contact with the terminal 18, the solenoid6V will be energized and the piston 4 moved toward the left hand end ofthe cylinder 1, thus admitting moti vc fluidfrom thereservor 3- to theright hand end of the cylinder 1, and'thence to the right hand end ofthe cylinder, 21, thereby forcing the piston 25 Ain the cylinder 24 tothe left. viewingy Fig. 1, and admitting air or other motive fluid fromtheeservoir 3 into the right hand end of the cylinder '24. In thismovement of the parts, air will be exhausted from the left hand end ofthe cylinder 21 through the passage 28 and through the groove 10 of thecore or plunger 5. The compressed' air from the right hand end of thecylinder 24 will pass through the passage 74'through the ports 70, 71which are in communication, as represented in Fig. 2. thence throughthe-passage 75 to the rotary valve 45, along the groove 105 thereof andthence through the passage 62 into the left hand end of the cylinder 38.`as represented in Fig. 1. This will cause the piston 39 in saidcylinder 38 to move to the right, viewing Fig. l, and hence will turnthe rudder 33 to port or tothe left viewingr the sheet. If now thecompressed air thus admitted to thev cylind'er 38, were permittedv tomore the piston through its full stroke, that is. to act withoutrestraint, it would move the rudder 33 through a wide angle which inpractice may approximate 450. This is open to the objections heretoforepointed ont, aud in order to prevent such action, I have provided themodifying means heretofore described. The action thereof is such thatthe described movement of the piston rod IE6 to the right compelsconjoint moven'lcnt o the plunger 66 into the saine direction.,

aeieger whiQhvv-'ill cut 0E the compressed air that isbeing-admittedjthrough the passage 74 and Athe rigr cylinder l6&1through the groove 83, so that the air is at once or almost immediatelyafter its admission intothe left hand end of the cylinder 3S\exhaus'tedthrough the port 90 from the same end of the cylinder 38 at 'which itwas admitted. Upon exhaustionl of the air which compelled the movementof the piston 39 to the right, the centering springs 42, 43 in the.cylinder 40 tends at once to restore the piston 39 to central positionin the cylinder 38.

When the motive Huid is being admitted through the ports 70, 71 andthence through-y the' passage 7 5, the rotary valve and the passage 62to the left hand end of the cylinder j 38, the ports 72, 73 are open tothe exhaust vthrough the cylinder 24; that is to say, when the motiveHuid is 'admitted to the left hand end of the cylinder 38, it will bepermittedv to exhaust through the right hand end therefof through thepassage 63, the groove 106 of the rotary valve, the4 passage '77,through the ports 73, 72 of the cylinder '64,' and V'-tlie'nce throughthe passage 76 to the left hand end of the cylinder 24, whence it isexhausted through the longitudinal groove in,l

the piston rod 23. lf the arm 20 of the gyroscope makes contact' withthe terminal 19, the solenoid 7 is `energized, and in a manner similarto that described-the motive fluid is admitted to the right hand end ofthe. cylinder 38 and exhausted from the left hand end thereof,

thereby moving the rudder to starboard.

' Such movement is, however, modified and I limited through the actionof the described means, as already fully set forth.

I have stated that when the motive fluid Ais admitted to one side or theother of the piston 39 in the cylinder 38, it ris exhausted from thecylinder 24. rl`he exhaust occurs as described at the commencement ofthe movement, but as 'soon as the plunger 66 has motved a shortdistance, as, for example, when moving toward the right viewing Fig.

- 2, the port 72 is cut off from communication with the port 73, butsaid port 73 is at the y same time brought into communication with thesupplemental exhaust port 90 through the longitudinal groove 91. Thispermits a more prompt exhaust and through a much shorter passage.4Correspondingly when the plunger 66 is moved toward the left, viewingFig. 2, the orts 70 will be cut off from the "ports 71, t through saidports, but the us preventing further exhaust placed in communicationwlththe supple- .of thewves'sel bv the g roscope,

ort 71 will bev v v 'i' fyi'ngfmeahs shgiwn `in Fig. 2, is temporarily1gated groove 83.

- rhavejdescribed ,the motive anni astamitted`to,j th`e. left handvendpf the cylinder and promptly 'exhausted 'i from the same xdlnasmuchas the springs 42, 43 in theJ cylinder 40..,tend to restore the plunger39 to centralpsition in the cylinder 38, the said piston 39 Willnow bemoved to the left, view'- ing 7Fig. 1, and hence the plunger 66 willalso be moved to the left, and thereforethe port 70" will be againplaced in communication ywith' the port 71, and a further supply lofmotive fluid will-be admitted to the left hand end of the cylinder 38and theoperation will be, repeated.v so long as the gyroscopecontiiiues'to make contact with the terminal 18. Y

Thus, there' will or", may be a succession of slight movements orHuctuations of-the piston 39 first inpne direction and then in the other1n one portion of the cylinder, and a lor'responding movement thereofwill occur 'jin the other portion of the cylinder when ffqntact is madeby the gy'roscope arm 20 with :theterminal 19.

llfhaive statedithat'if the gyroscope were permitted to control themovement of the ludder l33 Without the employment of the limiting ormodifying device, the rudder would move through a large angle, as, forexample, through 45. By the employment'of suitable modifying means,such, for example, as the type herein disclosed, l am enabled to reducetheangle of movement to any desired extent, and 'as above set forth lhave provided means whereby this movement can be varied through thelongitudinal adjustment of .the sleeve or shell 65. If desired, l maythus cut down the helm angle when thegyroscope is controlling .the`movement of the vessel to from 2 to 10..

When the gyroscope is functioning as described in the control of thevessel, the air or other motive fluid under pressure which may have)been previously applied to render the gyroscope inoperative is permittedto exhaust throughthe pipe 115, vas, indicated lin Fig. l, and thencepassin vthrough the rotary valve 45 is exhausted t rough the passage122. This action occursrwhencver the valve 15 isadjusted to put thecraft under the control of the gyroscope. p

lf the operator at l'the distant control lsta,- tion'wis'hes to assumecontrol of the vessel and to relieve the same from the control of thegyroscope 12, a suitableimpulse is sent and (the valve 45, which,duringl the control as yoccupied the position shown in ig. 1 (or aposition at 186: therefrom), tion shown in Fig. 7, or to that shown inFig,

is turned 90 to the posi' 8. Assuming that the valve is turned into theposition shown in Fig. L7, -it will be observed that thelhelm or rudderJangle-modirendered inactive, inasmuch asthe1cmgitudi-v.

nal passages 105 and 106 of the rotary valve 45 nov longer place thepipes 75 and 62 and the pipes 77 and 63 in communication. Dur-r ingthecontrol of the vessell from thedlstant control station, bothvends of'the cylinder 64 are in communication with the supplemental exhaust 90thereof through elongatedgroove 91 and thesimilar groove 83 or86,depending upon the position ofthe parts.

lindrical groove 112 and thelongitudinal pas- 7 sage 111, Where it isadmitted tothe passage 115 and henceunclntches the gyroscope andtemporarily terminates' the 'functioning thereof. Atthe same time, themotive fluid isadmitted from; the passagev 111 to the passage 63, andhence to the righthandkend of 1 the main or steering cylinder 38, sothat the rudder 83 is moved through a Widefangle to starboard. At thesame time, the motive fluid isexhausted from the left hand sidek thereofthrough the passage 62y which, asv

shown in Fig. 7, is in communication through the irregularly shapedpassage 107,

i 108 with the exhaust 110. If, however, the

i()v l [Figa 8,*then airiis'admitted-:from the reserend rotary valve .bepositioned as'shown in kvoir 3 through thek passage 113 and thencethrough the vpassage 62 into the leftihand hand end thereof through thepassage 63, andthrough the irregularly shaped passages 107, 108 to theexhaust' 110, whereby the rudder is moved through a Wide angle to port.e Upon the termination of steering from the distant control'statiomvtherotary valve 45 is turned through anotherstep, and as herein disclosedthrough an angle of 90, and the .rudder angle-limiting means is againmade active, but as the rudder has been moving through the full helmangle during the controliof the vessel from shore, the

plunger 65' is or may be at one extreme or 1 the other of its movement.-Whatever. be its positiomvhowever, it will still be open to theSupplemental exhaust port at'both ends.

through the groove 91, and the groove 83 or the groove 86.` andtherefore the two cenltering springs 42, 43 in the cylinder 40.L at once restore the plunger 66 to gcentral positlon and at the same timerestore the ,piston 39 to central position in the cylinder 3'8, thusalso Arestoring the rudder 33 to central Aposition. In actual operation,'the springs 42, 43 may not 5instantly restore the rudder to centralvposition, but vlmay leave it a 'little to starboard or to port,whereupon the gyroscope 12, which is now ,permitted to function, Willatonce assume control of the Lthernain or steering cylinder 38.v At the'same time, it 'isexhausted from the right vessel: and admitmotive fluidtothe proper i sidek of thecpist'on 39 in the cylinder 38, as

heretofore described.

Upon the termination of steering from the distant control station, bothendsk of -the *cylinder 38 are open to the exhaust, so that the springs42, 43 are thereby vpermitted to restore the piston 19 to substantiallycentral position kin said cylinder, whereupon through theL describedaction of the'g'yroscope, air is admitted to one end or the other of thesaid cylinder. thereby to impose what I- may term the fluctuating 9'moveu ments upon the piston. The degree or kextent of thev fluctuatingmovements may be con trolled in any suitable 'mannen So far as I amkaware, I am the first to provide 'mechanism toi maintain a moving bodyupon a` predetermined course and to .provlde means for modifying,regulating,`

liniitngor res,trictingv the steering or helmv angle of such body,anddesire therefore to i:

I claim the same broadly,

It-should be understood vthat thek term modifyf asused throughout thespecification and claims, is used in the sense included `4 strict toalimited extent. and is `not inbe understood that although specific termsare employed, they are used in a generic and descriptive sense and notffor purposes of limitation, the scope .of the invention heilig setforth inthe following claims.

Claims- Y 1. A system for. the control of moving bodies at a distance-by radiant energy including in combination, a body 'to be propelled.steering means thereon. means active upon said steering means tomaintain .a predetermined or definite direction' of bodily movement ofsaid body, and means to modify the action of said direction-maintainingmeans upon said vsteering means and means operative to overcome theeffect of said modifying means and to steer said body selectively`through any Ipart of an unlimited angle with respect to said direction.

2. A system for the'. control of moving oodics at a distance by radiantenergy including .in combination, a body to be propelled. steering meansthereon, means active upon said steering means to maintain apredetermined or definite direction of bodily by the terms regulateflimit "or ree tended to include such actions asv arresta p 'imager .l

movement of said body, means to limit the" angle of movement of thesteering-means and means operative to render said angle limiting meansineffective and to steer said body selectively through any part of anun' limited angle with respect to said direction.

A system 'for the control of moving bodies at a distance by radiantenergy in-4 cluding in combination, a body to be propelled, steeringmeans thereon, means active upon saidsteeririg means to maintain a pre-idetermined or definitedirection of bodily movement of said body, meansto modify the action of said direction-maintaining means upon thesteering means, and means responsive tol radiant yenergy from a distanceto control the action of said modifying predetermined or definitedirection of bodily movement of said body, means to reduce the angle ofmovement of said steering means below that Which would be imposed bytlie normal action of said direction-maintaining means, and meansresponsive vto radiant energy 'from a distance to control the action ofsaid angle reducing means.

A system -for. thel control of moving bodies vat a distance by radiantenergy including in combination` a body to be. propelled,lsteerin gmeans thereon, means active upon said steering means to maintain apredetermined or definite direction of' bodily movement of said body,Huid pressure means to modify the action of said direction-mainn tainingmeans upon the steering means, and means responsive to radiant energyfrom a distance to control the actionof said fluid pressure actuatedmodifying means.

6. system for controlling the operation of' moving` bodies at a distanceby radiant energy including in combination, a body to be propelled,steering means thereon, a gyroroscope, fluid pressure means controlledby said gyroscope and normally automatically operative to maintain adefinite direction of movement of said body, and mea-ns to modify theaction of said gyroscope upon the steerl ing means and operative tosteer said-body selectively'eitlier in one direction or in an oppositedirection from said first mentioned direction. i

7. A system for controlling the operation of moving' bodiesvat adistance by radiant energy including in combination, a body to bepropelled, steering means thereon, a gyroscope, Huid pressure meanscontrolled by said gyroscope and normally automatically operative tomaintain a definite direction of movement of said body,wand meansresponsive'ato radiantenergy from a :distance to modify the action ofsaid gyroscope,and to Ysteer said -body selectively either in onedirection orin an opposite direction .from saidfirst-mentioned'direction.y

8', f-A system for controlling the operation of `ii'noying bodies at adistance by radiant ener includinv in combination a bodv to D a u bepropelled, steering meansv thereon, a gyroscope, {iuid pressure meanscontrolled by said gyroscope to govern the action of said steering4means, and helm angle reducing means' controlled by said gyioscope. 9. Asystem for controlling the operation ot' moving bodies at adistancebyradiant energy including in combinatioma body to be propelled,steering means thereon, a gyroscope, lfluid gressure means-controlled bysaid gyroscope to overn the 'action of saidv steering means, he m anglereducingineans between thef gyroscope and the steering means, and meansresponsive to radiant 'energy from a distance to control the action ofsaid helm angle reducing-irneans,"g 10. A. syst/em for controlling theoperation of moving bodies at a distance by radiant energy including incombination, abedy to be propelled, steering means thereon, fii'iidpressure means, means active upon said iiiluid, pressure means tomaintain a predetermiiiiedv x or definite direction of bodily movementof' said body, and means to modify the action of saiddirection-maintaining means upon said steering means'to cause said bodyto4 deviateA selectively through any-part ofan i unlimited angle fromsaid direction..

11. A system for controlling the operation of' moving bodies at adistance'by radiant energy including in combination, a body to' bepropelled, steering means thereon, fluid pressure means, means activeupon said fluid pressure means to maintain a predetermined or ldefinite`direction of bodily movement of said body, and meansrespon# sive toradiant energy from a .distance to modify the action of lsaid directionmaini'io taining means to cause said body to deviate selectively throughany part of an-unlimited angle with respect to said direction.

l2. A system for controlling the operation of moving bodiesV at adistance by radiant energy'including in combination, a'body to bepropelled, steering means thereon, fluid pressure means= to control saidsteeringv means. a gyroscope governing the action'of i said fluidpressure means, means to modify said steering means, and step-by-'stepmeans responsive to radiant energy from a distance to control the actionof said modifying means. y i

13. A system for controlling the operation of moving bodies at adistance by radiant energy, including in combination, a body to .thenormal action of said gyroscop'e upon y be propelled, steering meansthereon, fluid pressure means to control said steering means, agyroscope governing the action of said fluid pressure means, means tomodify the normal action of `said gyroscope' upon said steering means,and a rotary valve having actuating means responsive to radiant energyfrom a distance. to control the action of said modifying means.

14. A system for controlling the operation of moving bodies ata distanceby radiant energy, including in combination, a body .to be propelled,steering means thereon and including a fluid pressure receiving chamberhaving a piston, means for admitting and for exhausting motive fluidfrom each side of the piston in said chamber, a gyroscope controllingsuch admission and exhaust, and supplemental exhaust means to reduce thehelm angle which would be imposed by the normal action of saidgyroscope.

15. A system` for controlling the operation of moving bodies at adistance by radiant energy including in combination, a body to bepropelled, steering means thereon and including a Huid pressurereceiving chamber having a piston, means Jfor admitting and forexhausting motive fluid from each side of the piston in said chamber, agyroscope controlling such admission and exhaust, and means to reducethe helm angle which would be imparted to the steering means by thenormalaction of said gyroscope, by exhausting motive fluid from saidchamber.

16. A system for controlling the operation of moving bodies at adistance by radiant energy including in combination, a body to bepropelled,=stee1;ing means thereon and including a fluid pressurereceiving chamber having a piston, means for admitting and forexhausting motive Huid from each side of the piston inr said chamber, agyroscope controlling such admission and exhaust, and means to exhaustmotive fluid from that side of the pistonat which it was admitted in thegoverning action of said gyroscope, and thereby to reduce the helm anglebelow that WhichA would be imposed bythe normal action of saidgyroscope.

17. A system-for controlling the operation of moving bodies at adistance by radiant energy including in combination, a body to bepropelled, steering means thereon and including a. fluid pressurereceiving chamber havin a piston, means for admitting and for ex austingmotive fluid from each side of the piston in said chamber, and means toex-V haust motive fluid from that end of said chamber tov which it isadmitted, Without change in direction of movement of said piston toeffect such exhaust, thereby to reduce the helm angle.

18. A system for controlling the operation of moving bodies at adistance by radiant energy including -in combination, a`body to bepropelled, steering means thereon and including a fluid pressurereceiving chamber having apiston, means for admitting and for exhaustingmotlve fluid from each side of the piston in said chamber, a gyroscopecontrolling such admission and exhaust, means to reduce the helm anglewhich would be mparted to the steering means by the normal action ofsaid gyroscope, by exhausting mo` tive fluid from said chamber, andmeans re` sponsive to radiant energy from a distance to govern'theaction of said helm angle re` ducing means.

19. A system for controlling the operation of moving bodies at adistance by radiant nenergy including in combination, a body to bepropelled, steering means thereon and including a Huid pressurereceiving chamber having a piston, means for admitting and forexhausting motive-fluid from each side of the piston in 'said chamber, agyroscope con` trolling such admission and exhaust, and valve means foreffecting a supplemental ex` haust from said chamber, and thereby toreduce the angle of movement Which would be imparted to the steeringmeans by the nor` mal action of said gyroscope.

20. A system for controlling the operation of moving bodies at adistance by radiant energy including in combination, a body to bepropelled, steering means thereon and including a fluid, pressurereceiving chamber having a piston, means for admitting and forexhausting motivefluid from each side 'of the piston in said chamber, agyroscope controlling such admission and exhaust, valve means foreffecting a supplemental exhaust from said chamber, and thereby toreduce the angle of movement which Would be imparted to the steeringmeans by the normal action of said gyroscope, and means responsive toradiant energy from a distance to control the action of said valvemeans.

2l. A system for controlling the operation of moving bodies y at adistance by radiant energy including in combination, a body tobepropelled, steering means thereon` and including a fluid pressurereceiving chamber having a piston,means foradmitting and for'exhaustingmotive fluid from each side of the pistonin said chamber, a gyroscopecontrolling such admission and exhaust, valve means for effecting-a supyplemental exhaust from` said chamber, and thereby to reduce the angle ofmovement which would be imparted to the steering means by thenormalaction of said gyroscope, and arotary valve governing the actionof said valve-means. n

22. A system for controlling the operation of moving bodies at adistance by radiant energy including in combination, a body to bepropelled, steering means thereon and including a fluid pressurereceiving chamber having a piston, means for admltting and forexhausting motive Huid' from each side of the piston in said chamber, agyroscope controlling such admission and exhaust, and means to effectfluctuating action of said piston, and thereby to limit the helm angle.

23. A system for controlling the operation of moving bodies at adistance by radiant energy including in combination, a body to bepropelled, steering means thereon and including 'a fluid' pressurereceiving chamber having a piston, means for admitting and forexhausting motive fluid from each side of the piston in'said chamber, agyroscope controlling such admission and exhaust, means to effectiuctuating action of said piston, and thereby to limit'the helm angle,an means responsive to radiant energy to control the action of saidmeans for effecting fluctuating action of the piston.

24. A system for controlling the operation of moving bodies at adistance by radiant energy including in combination, a body .to bepropelled, steering means thereon and including a fluid pressurereceiving chamber having a piston, means for admittin and for exhaustingInotive fluid from eac side of the piston in said chamber, a gyroscopecontrolling such admission and 'exhaustand means to impose fluctuatingmovements upon said piston or to permit Wide helm angle movementthereof.

25. A' system -for controlling the operation of moving bodies at adistance by radiant energy including in combination, a body to bepropelled, steering means thereon and including a fluidpressurereceiving chamber having a piston, means for admitting and forexhausting motive fluid from each side of the piston in said chamber, agyroscope controlling such admission and exhaust, and means under thecontrol of radiant energy from a distance to impose fiuctuatingmovements upon said piston.

26. A system for controlling the operation of Amoving bodies at adistance by radiant energy including in combination, a

body to be propelled, steering means thereon and including a Huidpressure receiving chamber having a piston, means for admitting and forexhausting motive Huid from each side of the iston in said chamber, avyroscope controlling such admission and exhaust, and means responsiveto radiant energy from a distance periodically to impose iiuctuatingmovements upon the piston and periodically to permit Wide helm anglemovements thereof.

27. A system for controlling the operation of moving bodies at adistance by radiant energy including in combination, a body to bepropelled, steering means thereon and including a fluid pressurereceiving chamber having a piston, means for admitting and forexhausting motive uid from 65 each side of the piston in said `chamber,a

gyroscope controlling such 'admission and exhaust, supplementalexhausting means to impose fluctuating movements upon the piston, andstep-by-step means controlled by radiant energy from a distance togovern the action of said supplemental exhaust.

28. A system for controlling the operation of vmoving bodies at adistance by radiant energy including in combination, a body to bepropelled, steering means thereon and including a fluid pressurereceiving chamber having a piston, means for admitting and forexhausting motive fluid from each side of the piston in said chamber, agyroscope controlling such admission and exhaust, and means to imposefluctuating movements upon said piston While the vbody is controlled bythe gyroscope.

29. A system for controlling the operation of movingy bodies at adistance .by radiant energy including in combination, a body to `bepropelled, steering means thereon and including-a fluid pressurereceiving chamber having a piston, means for admittingand for exhaustingmotive fluid from each side of the piston in said chamber, a gyroscopecontrolling such admission and exhaust,

means to impose fluctuating movements upon Y for exhausting motive fluidfrom each side of the piston in said chamber, a gyroscope controllingsuch admission and exhaust, means to impose fluctuating movements uponsaid piston While the body is controlled by the gyroscope, and meansresponsive to radiant energy from a distance to terminate thefunctioning of the gyroscope and to permit Wide helm angle movement ofsaid steering/ means.

31. A system for controlling the operation of moving bodies at adistance by radiant energy including in combination, a body to bepropelled, steering means thereon and inv cluding a fluid pressurereceivingchamber having a piston, means for admitting and for;exhausting motive fluid from each side of the piston in said chamber, agyroscope controlling such admission and exhaust, solenoids adapted tobe energized by said gyroscope in the control of said admission andexhaust, and means controlled through the action of said solenoids toimpose fiuctuating movement upon said piston. i

32. A system for controlling the operation of moving bodies at adistance by radiant energy including in combination, a body to bepropelled, steering means thereon and including a fluid pressurereceiving chamber having a piston, means for admitting and forexhausting motive fluid from eac-h side of the piston in said chamber, agyrosco e controllingr such admission and exhaust, sol enoids adaptedtobe energized by said gyroscope, and means controlled by said solenoidsto reduce the movement 0f said piston below that which would beimparted, through the normal action of said gyroscope.

33. A system for controlling the operation of moving bodies at adistance by radiant energy including in combination, a body to bepropelled, steering means thereon and including a fluid pressurereceiving chamber having a piston, means for admitting and forexhausting motive fluid from each side of the iston in said chamber, agyroscope control ing such admission and exhaust, and means `connectedto said steering means to impose fluctuating movements upon the pistonduring the periods of its control by saidl gyroscope. A

34. A system for controlling the operation of moving bodies at adistance by radiant energy including in combination, a body to bepropelled, steering means thereon, and including a fluid pressurereceiving chamber having a piston, means for admitting and forexhausting motive `fluid from each side of the piston in said chamber, agyroscope -controlling such admission and exhaust, and

a plunger operatively connected to said piston to ell'ect a supplementalexhaust from said cylinder.

35.V A system for controlling the operation of' moving bodies at adistance by radiant energy including in combination, a body to bepropelled, steering means thereon, and including a fluid pressurereceiving chamber" having a piston, means for admitting and forexhausting motive fluid from each side of the piston in said chamber, agyrosco'pe controlling su'chadmission and exhaust, and

a plunger operatively connected to said steer-- ing means to exhaustmotive fluid from that side of said piston to which it was last admittedthrough the action of said gyroscope.

36. A system for controlling the operation of moving bodies at adistance by radiant energy including in combination, a body to meansresponsive to radiant energy from a distance to neutralize the action ofsaid plunger.

3?. A system for cont-rolling the operation of moving bodies at adistance by radiant energy including in combination, a body to bepropelled, steermg means thereon and mcludmg a fluid pressure receivmgchamber having a piston, means for radmitting and 'for exhausting motivefluid from each side of the piston in said chamber, a gyroscopecontrolling suh admission and exhaust, a plunger operatively connectedto said steering means, and means controlled by said plunger to eflect asupplemental exhaust frn either side of said piston.

38. A system for controlling the operation of moving vbodies at adistance by' said plunger to effect a supplemental exhaust from eitherside of said piston, and step-by-step .means responsive to lradiantenergy from a distance to neutralize the action of said plunger. L

'39. A system for controlling the operation of lmoving bodies at' adistance by radiant energy including in-combination, a

`body to be propelled, steering means thereon and including a fluidpressure receiving chamber having a piston, means for admitting and forexhausting motive Afluid 'from each side ofthe piston in said chamber, agyroscope controlling such admission and exhaust, means responsive to`radiant energy Jfrom a distance to impose vfluctuating movernents uponthe piston while the body isv under the control of said gyroscope and topermit Wider movements ofthe steering means upon the termination of'such gyroscope control. v

40. A system for', lcontrolling the operation of moving bodies at adistance by radiant energy including in combination, a body to bepropelled, steering means thereon and including a fluid pressurereceiving chamber having a piston, means forv admitting and forexhausting motive fluid from each side of the piston in said chamber, agyroscope controlling such admission and exhaust, means responsive toradiant energy from a distance to impose fluctuating movementsupon thepiston While the body is under the control of said gyroscope and topermit Wider movements of the steering means upon the termination of'such gyroscope control, and means active upon the termination of thecontrol of the body by radiant energy to restore the steering meanssubstantially to central position. 41. A system for controlling theoperation of movin 4bodies at a distance by radiant energy including incombination, a body to be propelled, steering means thereon andincluding a fluid pressure receiving chamber having a piston, means foradmitting and for exhausting motive Huid from cach side of the piston insaid chamber, a gyroscope controlling such admission and exhaust, meansto impose fluctuating movements upon the piston while the body is underthe control of said gyroscope, and means to vary the degree of saidfluctuating movements.

42. The combination with a movable body,

"of automatic means carried thereby to stabilize said body with respectto a given axis, means operative, to restrict the effective action ofsaid automatic meanson said body, and means-responsive to enertransmitted from a distantpointto termlnate the automatic controlof'said body'by said stabilizing means and said restricting means and torotate said body selectively about said axis-through any part of anunlimited angle.

'43. The combination with a movable body,

. of automatic means carried thereby to stabilize said body with respectto a given axis, means operative to restrict the effective action ofsaid automatic means on said body, and means responsive to energytransmitted from a distant oint to modi f the automatic control ofsaidbdy by said stabilizing means and said restricting means and to rotatesaid body selectively about said1 axis through any part of an unlimitedang e. l

44. The combination with a movable body, of automatic` means carriedthereby to stabilize said body Withrespect to a given axis, meansoperative to restrict the effective action of lsaid automatic means onsaid body, and means responsive to energy transmitted from a distant,,point to termi- -nate, the automatic control of said body by saidstabilizing means and said restricting means and to rotate said bodyselectively about said axis' in one direction or lin an op# positedirection.r y -i 45. The combination with a movable body, of automaticmeans carried thereby to stabilize said body Withrespect to agiven axis,means-operative to restrict the edective action of said automatic meanson said body and means responsive to ener transmitted from a distant ppint to mo ity the automatic controlvi7 said. body by said stabilizingmeans and said restricting means, and

to rotate saidbody selectively about Asaid. axis in one direction or inan opposite direction. y

46. The combination with a movable body, of automatic means carriedthereby to stabilize said body With respect to a given axis, meansoperatve to restrict the Vefvectve in an opposite direction.

xtrol the movement of said rudder to main'- tain the said vessel upon adefinite course,

action of said jautomatic means on said body, and means responsive toenergy transmitted from a distant point to terminate the control of saidbody by said*stabilizi1'1g means and said restricting means, and torotate said body selectivelyv about said axis in one direction or in anopposite direction and through any part of an unlimited angle in eitherdirection.

47. The combination With a movable body of automatic means including agyroscope carried thereby to stabilize said body with respect to a givenaxis, means operative to restrict the eective action of said gyroscopeon said body, and means responsive to radiant energy transmitted from adistant point to modify the control of sai'd body by said stabilizingmeans and said restricting means, and to rotate said body about saidaxis `selectively through any desired part of S5 an unlimited angle.

48. The combination with a movable body, of autdmatic means including agyroscope carriedhthereby to stabilize said body with respect to a givenaxis, means operative to restrict the effective action of said gyroscopeon said body, and means responsive to radiant energy transmitted from adistant point to modify the control of saidbody by said stabilizingmeans and to rotate said bodyabout said axis selectively in eitherdirection. Y

49. rlhe combination with a vessel provided With` a rudder arranged tooscillate with respect thereto, of direction maintaining meansautomatically operative to control the movement ofisaid rudder tomaintain the said vessel upon a definite course, means to limit theangle of oscillation of said rudder while under the automatic control ofsaid direction maintaining means, and means operative to overcome theaction of said limiting means, and to scillate said rudder selectivelyeither in one direction or 50. The combmatlon with a vessel provided`with a rudder arranged to oscillate `with, respect thereto, of directionmaintaining means automatically operative to conmeans to limit the angleof oscillation of said rudder while under the automatic control of saiddirection maintaining' means, and means responsive to radiant energy forovercoming the action of said limiting means and for oscillating saidrudder selectively either in one direction or in an opposite direction.

stem for the'control of moving 125 bodies inc uding, in combination, avessel to be propelled, rudder means thereof, means active upon saidrudder means to maintain a predetermined or deinite direction of bodily4movement of said vessel, and means to 52. A system for the control ofmovingy bodies atadistance including, in combination, a body to bepropelled, steering means' thereon, means active upon said steeringmeans to maintain a predetermined or definite direction of bodilymovement of said body, and means including a rotatable controllingmember to modify the ei'ect of the action of said direction maintainin-gmeans upon said steering means. 553. A system for the control of movingbodies including, in combination, a body to be propelled, steering meansthereon, means active upon said steering means to maintain apredetermined or definite direction -of bodily movement of said body,and means including a step-by-step rotatable controlling member tomodify the effect of the action of Said direction-maintaining means uponsaid steerin means.

54. system for the control of mov-ing mitting a motive agent to act uponthe steering means, and means quickly to release at least a portion ofsaid admitted motive agent. y

In testnnony'whereof, I have signed my name to this specification in thepresence of two subscribing Witnesses.

' I JHN HAYS HAMMOND, JR.

Witnesses:

GEO. H. NEWELL, NELLIE LINNEKIN.

